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Adaptive Control of a Hydraulic Crane using On-Line Identification
Linköpings universitet, Institutionen för ekonomisk och industriell utveckling, Mekanik. Linköpings universitet, Tekniska högskolan.
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
1993 (engelsk)Rapport (Annet vitenskapelig)
Abstract [en]

In this paper we present an approach to adaptive control of hydraulic actuators with flexible mechanical loads. The approach is based on recursive identification of low order models of the dynamics from valve input to actuator position and effective load pressure respectively. The model parameters are used to compute a regulator that gives a well damped system with good servo properties. The identification is carried out on-line in closed loop with no other signals than those present in normal operation. Here RLS with variable forgetting factor is used. The method does not, however, need not more paramters to be set a priori than ordinary RLS with fix forgetting factor. In this way an easily tuned and robust identification algorithm is obtained. Results from experiments carried out on a lorry crane are presented.

sted, utgiver, år, opplag, sider
Linköping: Linköping University , 1993. , s. 26
Serie
LiTH-ISY-R, ISSN 1400-3902 ; 1520
Emneord [en]
Fluid power systems, Adaptive control
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-55609OAI: oai:DiVA.org:liu-55609DiVA, id: diva2:316306
Tilgjengelig fra: 2010-04-30 Laget: 2010-04-30 Sist oppdatert: 2014-09-19

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Adaptive Control of a Hydraulic Crane using On-Line Identification(213 kB)374 nedlastinger
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